def test_rotate_beam2inst():
td = load('vector_data01_rotate_inst2beam.h5')
rotate(td, 'inst', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2beam.h5')
rotate(tdm, 'inst', inplace=True)
cd = tr.dat.copy()
cdm = tr.dat_imu.copy()
msg = "adv.rotate.beam2inst gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_beam2inst():
td = load('vector_data01_rotate_inst2beam.h5')
rotate(td, 'inst', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2beam.h5')
rotate(tdm, 'inst', inplace=True)
cd = tr.dat.copy()
cdm = tr.dat_imu.copy()
msg = "adv.rotate.beam2inst gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2inst():
td = load('vector_data01_rotate_inst2earth.h5')
rotate(td, 'inst', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2earth.h5')
rotate(tdm, 'inst', inplace=True)
cd = tr.dat.copy()
cdm = tr.dat_imu.copy()
# The heading/pitch/roll data gets modified during rotation, so it
# doesn't go back to what it was.
cdm.pop('orient')
tdm.pop('orient')
msg = "adv.rotate.inst2earth gives unexpected REVERSE results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2inst():
td = load('vector_data01_rotate_inst2earth.h5')
rotate(td, 'inst', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2earth.h5')
rotate(tdm, 'inst', inplace=True)
cd = tr.dat.copy()
cdm = tr.dat_imu.copy()
# The heading/pitch/roll data gets modified during rotation, so it
# doesn't go back to what it was.
cdm.pop('orient')
tdm.pop('orient')
msg = "adv.rotate.inst2earth gives unexpected REVERSE results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_inst2earth(make_data=False):
td = tr.dat.copy()
rotate(td, 'earth', inplace=True)
tdm = tr.dat_imu.copy()
rotate(tdm, 'earth', inplace=True)
if make_data:
save(td, 'vector_data01_rotate_inst2earth.h5')
save(tdm, 'vector_data_imu01_rotate_inst2earth.h5')
return
cd = load('vector_data01_rotate_inst2earth.h5')
cdm = load('vector_data_imu01_rotate_inst2earth.h5')
msg = "adv.rotate.inst2earth gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_inst2earth(make_data=False):
td = tr.dat.copy()
rotate(td, 'earth', inplace=True)
tdm = tr.dat_imu.copy()
rotate(tdm, 'earth', inplace=True)
if make_data:
save(td, 'vector_data01_rotate_inst2earth.h5')
save(tdm, 'vector_data_imu01_rotate_inst2earth.h5')
return
cd = load('vector_data01_rotate_inst2earth.h5')
cdm = load('vector_data_imu01_rotate_inst2earth.h5')
msg = "adv.rotate.inst2earth gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2principal(make_data=False):
td = load('vector_data01_rotate_inst2earth.h5')
td['props']['principal_heading'] = calc_principal_heading(td['vel'])
rotate(td, 'principal', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2earth.h5')
tdm['props']['principal_heading'] = calc_principal_heading(tdm['vel'])
rotate(tdm, 'principal', inplace=True)
if make_data:
save(td, 'vector_data01_rotate_earth2principal.h5')
save(tdm, 'vector_data_imu01_rotate_earth2principal.h5')
return
cd = load('vector_data01_rotate_earth2principal.h5')
cdm = load('vector_data_imu01_rotate_earth2principal.h5')
msg = "adv.rotate.earth2principal gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2principal(make_data=False):
td = load('vector_data01_rotate_inst2earth.h5')
td['props']['principal_heading'] = calc_principal_heading(td['vel'])
rotate(td, 'principal', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2earth.h5')
tdm['props']['principal_heading'] = calc_principal_heading(tdm['vel'])
rotate(tdm, 'principal', inplace=True)
if make_data:
save(td, 'vector_data01_rotate_earth2principal.h5')
save(tdm, 'vector_data_imu01_rotate_earth2principal.h5')
return
cd = load('vector_data01_rotate_earth2principal.h5')
cdm = load('vector_data_imu01_rotate_earth2principal.h5')
msg = "adv.rotate.earth2principal gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg